JP7091724B2 - Driving support device - Google Patents

Description

The present invention relates to a traveling support device including a motor driven by electric power supplied from a storage battery and applied to a vehicle traveling by the motor.

Electric vehicles such as electric vehicles (EV: Electric Vehicle) and hybrid vehicles (HEV: Hybrid Electric Vehicle) that are driven by a motor driven by electric power are known. Techniques for extending the distance that an electric vehicle can travel by using electric power as a drive source are known. For example, Patent Document 1 limits the speed and acceleration of a vehicle according to the driver's choice when the remaining capacity of a storage battery that supplies electric power to a motor decreases in order to extend the distance that can be traveled by using electric power as a drive source. The technology to be used is described.

Japanese Patent No. 3131248

As in Patent Document 1, when the remaining capacity of the storage battery is reduced, if the speed and acceleration of the electric vehicle are reduced to continue traveling, safe traveling may not be possible depending on the traveling route. For example, when the traveling route includes a highway or a confluence, if the speed or acceleration of the electric vehicle is limited, it is not possible to ride on the flow of traffic, which makes safe traveling difficult.

In view of the above, the present invention provides a travel support device for an electric vehicle capable of selecting an appropriate travel route according to the state of the storage battery.

The present invention provides a traveling support device including a motor driven by electric power supplied from a storage battery and applied to a vehicle traveling by the motor. This travel support device selects at least one of torque and power as a capacity value based on the travel environment information of the travel route and the search unit that searches for the travel route according to the destination of the vehicle. At least one of torque and power is selected as the capacity value according to the capacity value selected by the first calculation unit for calculating the required capacity required for the vehicle to travel on the travel route and the capacity value selected by the first calculation unit. A second calculation unit for calculating the supply capacity that can be supplied from the storage battery, and a determination unit for determining a travel route whose required capacity is equal to or less than the supply capacity are provided.

According to the present invention, the required capacity for traveling on the searched travel route and the supply capacity supplied from the storage battery are selected based on the travel environment information of the travel route (at least of torque and power). Calculate in either one). For example, when torque is selected as the capacity value, the required capacity is calculated by torque, and the supply capacity is also calculated by torque. Then, a travel route whose required capacity is equal to or less than the supply capacity is selected as a travelable route. Therefore, for example, when an uphill road or the like that requires high torque is included in the traveling route, the traveling route can be selected based on the torque required for traveling and the torque that can be supplied from the storage battery. can. Further, for example, when a highway that requires high power is included in the travel route, the travel route can be selected based on the power required for travel and the power that can be supplied from the storage battery. .. Since the required capacity and the supply capacity can be compared and the travel route can be selected at the capacity value appropriately selected according to the travel environment information of the travel route, it is possible to drive safely on the selected travel route. ..

The schematic diagram of the drive system provided with the driving support device (ECU) which concerns on embodiment. An explanatory diagram of the required torque on an uphill road. The flowchart of the traveling support control which concerns on embodiment. The flowchart of the traveling propriety determination which concerns on embodiment. The flowchart of the traveling propriety determination which concerns on other embodiment. The figure which shows the relationship between the vehicle speed of an EV vehicle, torque and power.

As shown in FIG. 1, the drive system 1 includes a storage battery 11, a motor 12, an inverter 13, a display device 14, an input device 15, an ECU 20, and sensors 30. The drive system 1 is mounted on an EV vehicle, and the wheels of the vehicle can be rotated by the rotation of the motor 12 to drive the vehicle.

The storage battery 11 is a drive battery, and supplies electric power to the motor 12 via an inverter 13 connected between the storage battery 11 and the motor 12. The inverter 13 converts the DC power supplied from the storage battery 11 into three-phase AC power, and supplies the converted three-phase AC power to the motor 12. The inverter 13 supplies a drive current to the traveling drive motor 12 in response to the drive command sent from the ECU 20. As a result, the electric power supplied from the storage battery 11 to the motor 12 is controlled, the drive of the motor 12 is controlled, and the traveling of the vehicle is controlled. It should be noted that electric power may be supplied from the storage battery 11 to auxiliary machinery and the like (not shown) driven by electric power. Alternatively, a sub-battery may be installed separately from the storage battery 11 and power may be supplied to the accessories from this sub-battery.

The sensors 30 include a torque sensor 31 that detects the rotational torque of the motor 12, a voltage sensor 32 that detects the voltage of the storage battery 11, a current sensor 33 that detects the current of the storage battery 11, and a BT that detects the temperature of the storage battery (BT temperature). A temperature sensor 34, an MT temperature sensor 35 that detects the temperature (MT temperature) of the motor 12, an INV temperature sensor 36 that detects the temperature (INV temperature) of the inverter 13, a cooling water temperature sensor 37 that detects the temperature of the cooling water, and a vehicle. It includes a vehicle speed sensor 38 for detecting the traveling speed of the vehicle and a GPS sensor 39 for detecting the position of the vehicle. The detected values of the sensors 30 are input to the ECU 20. The remaining capacity (SOC) of the storage battery can be calculated, for example, by integrating the charge / discharge current detected by the current sensor 33 over time.

The display device 14 is composed of a liquid crystal display or the like, and displays a traveling route or the like searched by the ECU 20. The input device 15 is a device in which the driver inputs commands for setting a destination and various selections. When the destination setting is input, the destination information is provided to the ECU 20. The driver searches for and sets the POI (Point Of Interest) of the destination based on the address, category, telephone number, etc. of the destination. The POI is information about a point such as store information.

The ECU 20 controls the electric power supplied from the storage battery 11 to the motor 12, controls the driving of the motor 12, and controls the running of the vehicle. Further, the ECU 20 has a function as a traveling support device for supporting the traveling of the vehicle.

The ECU 20 includes a search unit 21, a first calculation unit 22, a second calculation unit 23, a determination unit 24, and a travel control unit 25. The ECU 20 is mainly composed of a microcomputer composed of a CPU, ROM, RAM, backup RAM, I / O, etc. (none of which is shown), and by executing various control programs stored in the ROM, the above-mentioned Realize the functions of each part.

The search unit 21 searches for a travel route according to the destination of the vehicle. The destination is set, for example, by being input to the input device 15 by the driver. The ECU 20 stores road information, POI information, and the like as map information. The search unit 21 from the current location to the destination based on the destination information from the input device 110, the vehicle position information, the road information about the map area according to the destination, the map information such as POI information, and the like. Search for a driving route.

When a destination is input, the search unit 21 determines a requested map area based on the destination information, reads out the corresponding map information, and searches for a travel route. Further, the search unit 21 may be configured to calculate the vehicle position of the own vehicle from the information acquired from the GPS sensor 39. In this case, the search unit 21 may search for a travel route when the vehicle position of the own vehicle is separated from the travel route to the target stored in the ECU 20 by a certain distance.

Further, the search unit 21 acquires the travel environment information of the travel route. The driving environment information is information that affects the driving control of the vehicle, and specifically, geographical information such as the inclination angle, width, curve and its turning angle, road surface condition of the traveling route, and marking speed information of the traveling route. , Information on weather, congestion, etc. The driving environment information may be read from the map information stored in the ECU 20, or may be acquired by the sensors 30 or an external communication means. The search unit 21 calculates or acquires the time and power consumption to reach the destination for each travelable route, and selects the shortest route with the shortest arrival time and the minimum power route with the minimum power consumption. You may.

The first calculation unit 22 selects either one or both of torque and power as the ability value based on the travel environment information of the travel route. Then, the required ability is calculated at the selected ability value. Torque is a moment of force that rotates a wheel, and is used as an index of climbing performance and acceleration performance. Power is the amount of work per unit time when the vehicle is driven, and is sometimes referred to as output, power, driving force, or the like. Power is used as an index of high-speed driving performance. The first calculation unit 22 selects torque as a capacity value when climbing performance or acceleration performance is required for traveling on a traveling route. The first calculation unit 22 selects power as a capacity value when high-speed traveling performance is required for traveling on a traveling route.

The first calculation unit 22 may calculate both the torque (required torque) required for traveling on the traveling path and the required power (required power), or may calculate only one of them. The calculation of the required torque in the first calculation unit 22 may be performed on the entire travel route to the destination searched by the search unit 21, or may be performed for each divided route in which the travel route to the destination is subdivided. May be good. In the traveling route or the divided route, the maximum torque required for traveling may be calculated as the required torque, and similarly, the maximum power required for traveling may be calculated as the required power.

The first calculation unit 22 may calculate the required capacity in consideration of the power required for the vehicle to travel on the traveling route at a predetermined speed. By making it possible to travel while maintaining a predetermined speed, it is possible to drive safely. Further, the first calculation unit 22 may calculate the required capacity in consideration of the torque required for the vehicle to accelerate at a predetermined acceleration on the traveling path. By being able to accelerate at a predetermined acceleration at an arbitrary timing, danger can be avoided.

The first calculation unit 22 is configured so that the first calculation unit 22 calculates the required capacity when it is determined that the travel route includes a high load element based on the travel environment information of the travel route. You may. The high load element includes a high torque element that requires high torque for traveling and a high power element that requires high power. There are also elements that are high torque elements and high power elements.

Specifically, when it is determined that the traveling path includes an element requiring high torque, the torque may be selected by the capacity value and the required torque may be calculated. Examples of elements that require high torque include uphill roads and the like.

A method of calculating the required torque T1 when traveling on an uphill road having an inclination angle θ shown in FIG. 2 will be described. The driving force Fe required for traveling on this uphill road can be calculated by the following equation (1) from the gradient resistance Fg, the frictional resistance Ff, and the air resistance Fa.
Fe = Fg + Ff + Fa ... (1)

Further, each resistance Fg, Ff, and Fa can be calculated by the following equations (2) to (4). Note that M is the mass of the vehicle, g is the gravitational acceleration, μ is the dynamic friction coefficient, k is the air resistance coefficient, A is the area of the front surface of the vehicle, and S is the vehicle speed. , "S ^ 2" means the square of the vehicle speed S. The vehicle speed S is the speed of the vehicle when traveling on the travel route to be calculated, and safe driving is possible based on the travel environment information (road information, sign speed information, congestion information, etc. in the travel route). Can be set to a predetermined speed.
Fg = M × g × sinθ… (2)
Ff = μ × M × g × cos θ… (3)
Fa = k × A × S ^ 2… (4)

Further, the torque T required to obtain the driving force F can be calculated based on the following equation (5). Note that η is the power transmission efficiency, λ is the total reduction ratio, and r is the wheel radius.
Fe = T × η × λ / r… (5)

The required torque T1 is calculated as a value larger than the torque T in the above equation (5) so that the vehicle can accelerate at a predetermined acceleration C at an arbitrary timing while traveling on the traveling path. Specifically, it can be calculated from the following formula (6) in which the inertial resistance (M × C) is added to the above formula (5).
Fe + M × C = T1 × η × λ / r… (6)

By calculating the required torque T1 based on the above equations (1) to (6), the required torque T1 when traveling on an uphill road can be obtained. If θ = 0 in the above equations (2) and (3), the gradient resistance becomes zero, and the required torque T1 when traveling on a flat road can be calculated.

Further, the first calculation unit 22 may be configured to select power as a capacity value and calculate the required power when it is determined that the traveling path includes a high power element. It may be configured to calculate the required power required for running. Elements that require high power include highways and confluences.

The required power P1 is the work performed by the driving force Fe represented by the above equation (1) per unit time, and can be calculated by the following equation (7). Note that n is the rotation speed of the motor 12, and the coefficient α can be expressed as α = 2π / 60 when the unit of the rotation speed n is rpm. Further, the rotation speed n can be obtained from the detected value of the torque sensor 31.
P1 = Fe × n × r × α = T1 × n × α ... (7)

The second calculation unit 23 selects at least one of torque and power as the capacity value according to the capacity value selected by the first calculation unit 22. Then, the supply capacity that can be supplied from the storage battery 11 is calculated. When the required capacity is calculated as torque by the first calculation unit 22, the second calculation unit 23 calculates the supply capacity by torque. That is, the torque (supply torque) that can be supplied from the storage battery 11 is calculated. When the required capacity is calculated as power by the first calculation unit 22, the second calculation unit 23 calculates the supply capacity by power. That is, the power that can be supplied from the storage battery 11 (supply power) is calculated. When the required capacity is calculated by both the torque and the power by the first calculation unit 22, the second calculation unit 23 calculates both the supply torque and the supply power as the supply capacity. When power is supplied from the storage battery 11 to equipment (auxiliary equipment, etc.) other than the motor 12, the second calculation unit 23 calculates the supply capacity in consideration of the power supplied to the auxiliary equipment, etc. can do.

The supply torque T2 can be calculated by the following equation (8) based on the output current I of the storage battery 11. As the value of the output current I, the detected value of the current sensor 33 can be used. Kt is a torque constant. As shown in the following formula (8), when the SOC of the storage battery 11 decreases and the output current I decreases, it becomes difficult for the storage battery 11 to meet the high torque demand.
T2 = Kt × I × λ… (8)

The supply power P2 can be calculated by the following equation (9) based on the output voltage V and the output current I of the storage battery 11. As shown in the following equation (9), when the SOC of the storage battery 11 decreases and the output voltage V and the output current I decrease, it becomes difficult for the storage battery 11 to meet the high power demand.
P2 = V × I… (9)

The second calculation unit 23 may calculate the distribution ratio between the supply torque and the supply power when the traveling path includes an element requiring high power and high torque. Specific examples of elements that require high power and high torque include uphill roads (hereinafter referred to as high-speed uphill roads) existing in highways. The distribution ratio can be determined from the vehicle speed assumed when traveling on the traveling route based on the traveling performance curve or the like. For example, if the torque tends to be maximum in the range where the vehicle speed is low to medium speed, and the power tends to be maximum in the range where the vehicle speed is high speed, the lower the vehicle speed, the higher the distribution ratio of the supply torque. The higher the speed, the higher the distribution ratio of the supply power may be.

Further, depending on the vehicle speed S in the traveling route, it may be possible to select whether to calculate the torque or the power by the first calculation unit 22 or the second calculation unit 23. For example, when the vehicle speed S is low, the required torque and the supply torque may be calculated, and when the vehicle speed S is high, the required power and the supply power may be calculated.

When traveling on a high-speed uphill road, it is more important to secure torque than to secure the running speed in order to climb up safely. Therefore, when a high-speed uphill road exists in the travel route. May be treated as a high torque element.

The calculation of the required capacity and the supply capacity in the first calculation unit 22 and the second calculation unit 23 may be performed only when the capacity of the storage battery 11 is reduced. The capacity of the storage battery 11 can be evaluated based on the SOC of the storage battery 11, the temperature of the storage battery, the temperature of the motor 12, and the temperature of the inverter 13, which can be detected by the sensors 30. In evaluating the capacity of the storage battery 11, the output voltage V or output current I of the storage battery 11, the rotational torque of the motor 12, the cooling water temperature for detecting the temperature of the cooling water, and the like may be used together. It may be determined whether or not the capacity of the storage battery 11 has decreased by comparing the evaluation indexes listed above with the threshold values set appropriately. For example, when the SOC of the storage battery 11 is equal to or less than a predetermined threshold value, it is determined that the capacity of the storage battery 11 has decreased, and the required capacity and the supply capacity of the first calculation unit 22 and the second calculation unit 23 are calculated. May be good.

The determination unit 24 determines that a travel route whose required capacity is equal to or less than the supply capacity is a travelable route. When the required torque and the supply torque are calculated, the travel path in which the required torque is equal to or less than the supply torque is determined to be a travelable route. When the required power and the supply power are calculated, the travel route in which the required power is equal to or less than the supply power is determined to be a travelable route. According to the determination unit 24, the required capacity and the supply capacity can be appropriately compared according to the travel environment information of the travel route, and it can be determined whether or not the travel route is a travelable route.

If the required capacity and the supply capacity of the first calculation unit 22 and the second calculation unit 23 have not been calculated due to the capacity of the storage battery 11 being sufficiently high or the like, the determination unit 24 may be used by the search unit 21. It may be configured so that all the searched travel routes are determined to be travelable routes.

The determination unit 24 can display on the display device 14 whether or not the route is a travelable route for each travel route. The display device 14 is configured to display information such as the arrival time and power consumption for each travelable route, the shortest route or the minimum power route, etc. calculated by the search unit 21 together with the travelability of the travel route. May be. The driver can select a travel route from the input device 15 based on the information displayed on the display device 14. For example, the driver can select the shortest route, the minimum power route, or the like from the travel routes presented as the travelable routes and input them to the input device 15. Further, the determination unit 24 may be configured to give a warning to the driver by an alarm or a voice when it is determined that the traveling route is not a travelable route.

The travel control unit 25 controls the storage battery 11, the inverter 13, accessories, and the like according to a predetermined travel route selected from the travelable routes, and controls the travel of the vehicle. The travel control unit 25 may be configured to control the vehicle according to the travel route input from the input device 15 by the driver, or may be selected from the travel routes determined by the determination unit 24 as a travelable route. It may be configured to automatically select a travel route and control the vehicle. Further, when there are a plurality of travelable routes, the travel control unit 25 is the shortest among the travelable routes based on the time required to reach the destination calculated by the search unit 21, the power consumption, and the like. It may be configured to select a route or a minimum power route.

FIG. 3 shows a flowchart of traveling support control by the ECU 20.

In step S101, it is determined whether or not the input operation of the destination has been performed by the driver. If there is a destination input operation, the process proceeds to step S102.

In step S102, the travel route to the input destination is searched. It should be noted that the travel route is searched from among the travel routes for which the "non-travelable route" described later is not set. For example, the search for a travel route may select one or a plurality of travel routes having a low arrival time to a destination and low power consumption. After that, the process proceeds to the travelability determination process shown in step S103.

FIG. 4 shows a flowchart of the travelability determination shown in step S103. In the travelability determination process, it is determined whether or not the EV vehicle can safely travel on the travel route searched in step S102.

First, in step S201, the SOC, the output voltage V, and the output current I, which are the remaining capacities of the storage battery 11, are acquired. Specifically, the detection values of the voltage sensor 32 and the current sensor 33 are acquired, and the SOC is calculated based on the detection values. Then, the process proceeds to step S202.

In step S202, it is determined whether or not the SOC of the storage battery 11 is equal to or less than a predetermined threshold value X. If the SOC exceeds the threshold value X, the process proceeds to step S208, the travelability determination is performed for the travel route searched in step S102, the process shown in FIG. 4 is completed, and the process returns to FIG.

If the SOC is equal to or less than the threshold value X, the process proceeds to step S203, and the travel environment information of the travel route is acquired. Specifically, geographical information such as the inclination angle, width, curve and its turning angle, and road surface condition of the traveling route, marking speed information of the traveling route, congestion information, and the like are acquired as traveling environment information. Then, the process proceeds to step S204.

In step S204, it is determined whether or not the vehicle speed S of the own vehicle when traveling on the traveling route is equal to or less than a predetermined threshold value Y. If the vehicle speed S ≦ the threshold value Y, the process proceeds to step S205, and if the vehicle speed S> the threshold value Y, the process proceeds to step S211.

In step S205, it is determined whether or not the traveling path includes a high torque element. The high torque element is an element that is judged to require high torque when traveling on an uphill road or the like. For example, in step S203, when the traveling environment information indicating that the traveling route includes an uphill road is acquired, it is determined in step S205 that there is a high torque element.

If it is determined in step S205 that there is no high torque element, the process proceeds to step S208, a travelability determination is made for the travel path, the process shown in FIG. 4 is completed, and the process returns to FIG. If it is determined in step S205 that there is a high torque element, the process proceeds to step S206, the required torque and the supply torque are calculated, and then the process proceeds to step S207. The required torque and supply torque can be calculated based on the above equations (1) to (6) and (8).

In step S207, it is determined whether or not the required torque is equal to or less than the supply torque. If the required torque> the supply torque, the process proceeds to step S209, a travel impossible determination is made for the travel path, the process shown in FIG. 4 is completed, and the process returns to FIG. In step S206, when the required torque ≤ the supply torque, the process proceeds to step S207, a travelability determination is made for the travel path, the process shown in FIG. 4 is completed, and the process returns to FIG.

In step S211 it is determined whether or not the traveling path includes a high power element. The high power element is an element that is judged to require high power when traveling on a highway or a confluence. For example, in step S203, when the travel environment information indicating that the travel route includes the expressway is acquired, it is determined in step S211 that there is a high power element.

If it is determined in step S211 that there is no high power element, the process proceeds to step S214, a travelability determination is made for the travel route, the process shown in FIG. 4 is completed, and the process returns to FIG. If it is determined in step S211 that there is a high power element, the process proceeds to step S212, the required power and the supply power are calculated, and then the process proceeds to step S213. The required power and the supply power can be calculated based on the above equations (1) to (7) and (9).

In step S213, it is determined whether or not the required power is equal to or less than the supply power. If the required power> the supply power, the process proceeds to step S215, a travel impossible determination is made for the travel route, the process shown in FIG. 4 is completed, and the process returns to FIG. In step S213, if the required power ≤ supply power, the process proceeds to step S214, a travelability determination is made for the travel route, the process shown in FIG. 4 is completed, and the process returns to FIG.

In FIG. 3, by performing the travelability determination process shown in step S103, "travelability determination" or "travelability determination" is performed for the travel route searched in step S102. After step S103, the process proceeds to step S104.

In step S104, it is determined whether or not automatic operation is being carried out. If automatic operation is being carried out, the process proceeds to step S106. If the automatic operation is not performed, the process proceeds to step S105, and the travelability determination result of the travel route is displayed by the display device 14 or the like. The driver can select a travel route that allows safe travel and drive the vehicle according to the displayed travelability determination result. When it is determined that the traveling route during traveling is an "unable to travel route", the driver may be further warned by an alarm or a voice.

In step S106, it is determined whether or not the "travelability determination" has been made on the travel route. If the travel route is determined to be "untravelable", the process proceeds to step S108, the travel route is set to the "untravelable route", and then the process returns to step S102. In step S102, a travel route different from the travel route for which the “non-travelable route” is set in step S107 is searched for. If the travel route is determined to be "travelable", the process proceeds to step S107, it is determined to adopt the travel route for which the travelability determination has been made, and automatic driving is to be performed, and the process is terminated. When it is determined that the traveling route during travel is a "non-travelable route" and a new "travelable route" is searched for, switching from the non-travelable route to the travelable route is performed in step S107.

In the above embodiment, the supply torque and the supply power that can be supplied by the storage battery 11 are calculated separately, but as shown in FIG. 5, whether or not the travel route can be traveled in consideration of the distribution between the supply torque and the supply power. A determination may be made.

FIG. 5 shows a flowchart of travelability determination according to another embodiment. Since the processes shown in steps S301 to S303 are the same as the processes shown in steps S201 to S203 of FIG. 4, the description will be omitted by replacing the reference numbers in the S200 series with the S300 series.

In step S304, it is determined whether or not the traveling path includes a high torque element. If it is determined in step S304 that there is no high torque element, the process proceeds to step S313. If it is determined in step S304 that there is a high torque element, the process proceeds to step S305.

In step S305, it is determined whether or not the traveling path includes a high power element. If it is determined that there is no high power element, the process proceeds to step S311. If it is determined in step S304 that there is a high power element, the process proceeds to step S306.

In step S306, the required torque and the required power are calculated, and the process proceeds to step S307. In step S307, the vehicle speed S is acquired, and then in step S308, the distribution ratio between the supply torque and the supply power in the storage battery 11 is calculated. This distribution ratio can be set according to the vehicle speed S based on the traveling performance curve shown in FIG. As shown in FIG. 6, an EV vehicle can draw high torque from a low speed range, and is superior to a gasoline vehicle in torque performance in a low speed range. For example, in the low speed range shown in FIG. 6, the distribution ratio of the supply torque may be 100%, 50% in the medium speed range, and 0% in the high speed range. When the distribution ratio is expressed as a percentage, the total value of the distribution ratio of the supply torque and the distribution ratio of the supply power is 100%. In step S309, the supply torque and the supply power are calculated based on the distribution ratio calculated in step S308.

In step S320, it is determined whether or not the required torque is equal to or less than the supply torque. If the required torque> the supply torque, the process proceeds to step S324, a travel impossible determination is made for the travel path, the process shown in FIG. 5 is completed, and the process returns to FIG. If the required torque ≤ the supply torque in step S320, the process proceeds to step S321.

In step S321, it is determined whether or not the required power is equal to or less than the supply power. If required power> supply power, the process proceeds to step S324, a travel impossible determination is made for the travel route, the process shown in FIG. 5 is completed, and the process returns to FIG. In step S321, when the required power ≦ the supply power, the process proceeds to step S323, a travelability determination is made for the travel route, the process shown in FIG. 5 is completed, and the process returns to FIG.

On the other hand, when the process proceeds from step S304 to step S313, both the required torque and the supply torque are set to zero, and the process proceeds to step S314. In step S314, it is determined whether or not the traveling path includes a high torque element. If it is determined in step S314 that there is no high torque element, the process proceeds to step S316, a travel impossible determination is made for the travel path, the process shown in FIG. 5 is completed, and the process returns to FIG. If it is determined in step S314 that there is a high torque element, the process proceeds to step S315. In step S315, the required power and the supply power are calculated, and the process proceeds to step S320 or less.

If the process proceeds from step S305 to step S311, both the required power and the supply power are set to zero, and the process proceeds to step S312. In step S312, the required torque and the supply torque are calculated, and the process proceeds to step S320 or less.

For example, when a vehicle travels on a high-speed uphill road, both high torque and high power are required. When the traveling route includes a high-speed uphill road, as shown in FIG. 5, it is possible to make a more appropriate determination as to whether or not the traveling is possible by considering the distribution of the supply torque and the supply power.

According to the above embodiment, the following effects can be obtained.
The ECU 20 searches for a travel route to the destination, selects at least one of torque and power as an ability value based on the travel environment information of the travel route, and has the necessary ability to travel on the travel route. , The supply capacity supplied from the storage battery 11 is calculated. Then, the ECU 20 determines that the travel path whose required capacity is equal to or less than the supply capacity is a travelable route. Therefore, for example, when the traveling route includes an uphill road that requires high torque, it is determined whether or not the traveling route can be traveled based on the torque required for traveling and the torque that can be supplied from the storage battery. can do. Further, when a highway or the like that requires high power is included in the traveling route, it is possible to determine whether or not the traveling route can be traveled based on the required power and the supply power. According to the driving environment information of the traveling route, torque and power can be distinguished, the required capacity and the supply capacity can be compared, and the traveling route can be selected, so that the selected traveling route can be safely driven. ..

The first calculation unit 22 calculates the required power in consideration of the power required for the vehicle to travel on the traveling route at a predetermined speed. Further, the first calculation unit 22 calculates the required torque in consideration of the torque required for the vehicle to accelerate at a predetermined acceleration on the traveling path. Therefore, it is possible to determine whether or not the vehicle can travel on the traveling route in a state where it can be accelerated at an arbitrary timing in order to maintain a safe traveling speed and avoid danger.

The first calculation unit 22 may be configured to calculate the required capacity on condition that it is determined that the capacity of the storage battery 11 has decreased. Further, the first calculation unit 22 may be configured to calculate the required capacity on condition that the traveling path includes a high load element that requires power or torque of a predetermined value or more. By providing these configurations, it is possible to execute the process of determining whether or not the vehicle can travel as needed, and the processing load can be reduced.

The second calculation unit 23 is configured to determine the distribution ratio of the supply torque and the supply power based on the vehicle speed S of the vehicle in the traveling path when both the required torque and the required power are calculated. May be good. When the travel route contains elements that require both high torque and high power, such as high-speed uphill roads, it is possible to determine whether or not the vehicle can travel more appropriately by considering the distribution of supply torque and supply power. Is possible.

The determination unit 24 can display on the display device 14 whether or not the route is a travelable route for each travel route. The driver can select a travel route from the travelable routes based on the information displayed on the display device 14, and instruct the ECU 20 to select the travel route using the input device 15.

When the driving control unit 25 is performing automatic driving, the traveling control unit 25 may select an appropriate traveling route from the traveling routes determined by the determination unit 24 as a travelable route and switch the traveling route. can.

-In the embodiment, the case where the ECU 20 is composed of one control unit has been described as an example, but the present invention is not limited to this. For example, the ECU 20 may be composed of a plurality of control units such as a vehicle control ECU that controls the travel of the vehicle and a travel plan creation ECU that creates a travel plan of the vehicle. In this case, control signals, data signals, and the like may be transmitted and received between the vehicle control ECU and the travel plan creation ECU and the like for control.

-In the embodiment, an EV vehicle has been described as an example, but it can also be applied to an electric vehicle having a drive source other than electric power, such as a hybrid (HEV) vehicle.

11 ... Storage battery, 12 ... Motor, 20 ... Travel support device, 21 ... Search unit, 22 ... First calculation unit, 23 ... Second calculation unit, 24 ... Judgment unit

Claims (9)

A traveling support device (20) provided with a motor (12) driven by electric power supplied from a storage battery (11) and applied to a vehicle traveling by the motor.
A search unit (21) that searches for a travel route according to the destination of the vehicle, and
The first calculation unit (22) that calculates the required capacity required for the vehicle to travel on the travel route by selecting at least one of torque and power as the capacity value based on the travel environment information of the travel route. )When,
A second calculation unit (23) that calculates the supply capacity that can be supplied from the storage battery by selecting at least one of torque and power as the capacity value according to the capacity value selected by the first calculation unit.
A travel support device including a determination unit (24) for determining a travel route whose required capacity is equal to or less than the supply capacity as a travelable route. The traveling support device according to claim 1, wherein the first calculation unit includes the torque required for the vehicle to accelerate at a predetermined acceleration on the traveling path in the required capacity. The traveling support device according to claim 1 or 2, wherein the first calculation unit includes the power required for the vehicle to travel on the traveling route at a predetermined speed in the required capacity. The traveling support device according to any one of claims 1 to 3, wherein the first calculation unit calculates the required capacity on condition that it is determined that the capacity of the storage battery has decreased. The first calculation unit is based on at least one of the remaining capacity of the storage battery, the temperature of the storage battery, the temperature of the motor, or the temperature of the inverter connected between the storage battery and the motor. The traveling support device according to claim 4, wherein it is determined that the capacity of the storage battery has decreased. The first calculation unit is described in any one of claims 1 to 5, wherein the required capacity is calculated on condition that the traveling path includes a high load element that requires power or torque of a predetermined value or more. Driving support device. The traveling support device according to claim 6, wherein the first calculation unit calculates, when the high load element is an uphill road, the torque required for traveling on the uphill road as a required capacity. The first calculation unit according to claim 6 or 7, wherein when the high load element is a highway or a confluence, the power required for traveling on the highway or the confluence is calculated as a required capacity. Driving support device. The second calculation unit distributes torque and power based on the travel speed of the vehicle when traveling on the travel path when the first calculation unit selects both torque and power as capacity values. The traveling support device according to any one of claims 1 to 8, wherein the ratio is determined and the supply capacity is calculated based on the distribution ratio.

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